A method, device, equipment and medium for evaluating the work efficiency of a rescue worker protective suit

Abstract

The present application relates to the technical field of safety protection, and discloses a kind of rescuer protective clothing ergonomics evaluation method, device, equipment and medium.The method comprises: obtaining the spatial position and direction data of each joint of rescuer in the movement process when rescuer wears protective clothing to execute different rescue tasks;Establish the kinematic model of rescuer in the movement process to obtain the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of rescuer in the movement process;Establish the dynamic model of rescuer in the movement process to obtain the joint force and joint torque of each joint of rescuer in the movement process;According to the change of joint force and joint torque of each joint of rescuer in the movement process, determine the flexibility of each joint, and realize the effective evaluation of the ergonomics performance of rescuer protective clothing through the flexibility of each joint.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of safety protection, in particular to a rescue worker protective clothing ergonomics evaluation method, device, equipment and medium. BACKGROUND

[0002] Rescue workers face various dangers such as fire, high temperature, toxic gas, etc. when performing tasks, so protective clothing is crucial to the safety of rescue workers. Protective clothing not only provides effective protection, but also ensures the freedom of movement and comfort of rescue workers when wearing.

[0003] However, the design of traditional protective clothing mainly focuses on protection performance, often ignoring ergonomics. Ergonomics evaluation aims to analyze the impact of protective clothing on the activities and operations of rescue workers, thereby optimizing the design of protective clothing and improving rescue efficiency and personnel comfort. Therefore, the evaluation of the ergonomics performance of protective clothing is particularly important. SUMMARY

[0004] The purpose of the present application is to provide a rescue worker protective clothing ergonomics evaluation method, device, equipment and medium, which can realize effective evaluation of the ergonomics performance of rescue worker protective clothing.

[0005] To solve the above technical problems, an embodiment of the present application provides a rescue worker protective clothing ergonomics evaluation method, comprising the following steps:

[0006] Obtain the spatial position and direction data of each joint of the rescue worker during movement when the rescue worker wears protective clothing to perform different rescue tasks;

[0007] According to the limb movement and posture change of the rescue worker during movement reflected by the spatial position and direction data of each joint of the rescue worker, a kinematics model of the rescue worker during movement is established, and the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescue worker during movement are obtained through the kinematics model of the rescue worker;

[0008] According to the movement trajectory of the rescue worker during movement reflected by the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescue worker during movement, a dynamics model of the rescue worker during movement is established, and the joint force and joint torque of each joint of the rescue worker during movement are obtained through the dynamics model of the rescue worker;

[0009] According to the change of joint force and the change of joint torque of each joint of the rescue worker during movement, the flexibility of each joint is determined, and the ergonomics performance of the protective clothing of the rescue worker is evaluated through the flexibility of each joint.

[0010] In some optional embodiments, the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement are obtained by a kinematics model of the rescuer, including:

[0011] According to the spatial position and direction data of each joint, the position and posture of each joint are determined;

[0012] According to the limb movement and posture change of the rescuer during the movement reflected by the position and posture of each joint, inverse kinematics analysis is performed on the kinematics model to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement.

[0013] In some optional embodiments, each joint in the kinematics model and the connecting rod for connecting the joints are described by D-H parameter method.

[0014] In some optional embodiments, the movement trajectory of the rescuer during the movement is reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement, and a dynamics model of the rescuer during the movement is established, including:

[0015] The dynamics model is established by Newton-Euler equation method through the following steps:

[0016] The mass, inertia tensor, center of mass position and geometric size of each rigid body are determined by taking the joint of the rescuer as a rigid body;

[0017] A local coordinate system is established for each rigid body, and the position and direction of the local coordinate system relative to the pre-established global coordinate system are determined;

[0018] The linear velocity, angular velocity, linear acceleration and angular acceleration of each rigid body are calculated from the center of mass position of the rescuer as the root node;

[0019] The force and torque of each rigid body are calculated from any joint of the rescuer as the end node;

[0020] The dynamics model of the rescuer is established by combining the force and torque of each rigid body.

[0021] In some optional embodiments, the movement trajectory of the rescuer during the movement is reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement, and a dynamics model of the rescuer during the movement is established, including:

[0022] The Lagrange equation method is adopted to establish the dynamic model through the following steps:

[0023] Generalized coordinates and corresponding generalized velocities for describing the position of the rescuer are determined;

[0024] Kinetic energy and potential energy of the rescuer are defined to construct the Lagrange equation;

[0025] The Lagrange equation is applied to each generalized coordinate, and the generalized force generated by the non-conservative force in the plurality of Lagrange equations is solved to obtain a system of differential equations obtained from the plurality of Lagrange equations;

[0026] The dynamic model of the rescuer is obtained through the system of differential equations obtained from the plurality of Lagrange equations.

[0027] In some optional embodiments, the joint force and joint torque of each joint of the rescuer in the movement process are obtained through the dynamic model of the rescuer, including:

[0028] Inverse dynamics analysis is performed on the dynamic model according to the movement trajectory of the rescuer to obtain the joint force and joint torque of each joint in the movement process.

[0029] In some optional embodiments, the ergonomics performance of the protective clothing of the rescuer is evaluated, including:

[0030] The energy consumption of each joint in the movement process is determined according to the kinetic energy and potential energy of each joint in the movement process;

[0031] The ergonomics performance of the protective clothing of the rescuer is evaluated through the flexibility and energy consumption of each joint in the movement process.

[0032] Embodiments of the present application also provide a rescuer protective clothing ergonomics evaluation device, including:

[0033] The data acquisition module is configured to acquire spatial position and direction data of each joint of the rescuer in the movement process when the rescuer wearing the protective clothing performs different rescue tasks;

[0034] The kinematics analysis module is configured to establish a kinematics model of the rescuer in the movement process according to the limb movement and posture change of the rescuer in the movement process reflected by the spatial position and direction data of each joint of the rescuer, and obtain joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer in the movement process through the kinematics model of the rescuer;

[0035] a dynamics analysis module, configured to establish a dynamics model of the rescuer in the movement process according to the movement trajectory of the rescuer in the movement process reflected by the joint angle, the joint speed, the joint acceleration, the joint angular velocity and the joint angular acceleration of each joint of the rescuer in the movement process, and acquire the joint force and the joint torque of each joint of the rescuer in the movement process through the dynamics model of the rescuer;

[0036] an ergonomics evaluation module, configured to determine the flexibility of each joint according to the change of the joint force and the change of the joint torque of each joint in the movement process, and evaluate the ergonomics performance of the protective clothing of the rescuer through the flexibility of each joint.

[0037] Embodiments of the present application also provide a computer device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned rescuer protective clothing ergonomics evaluation method.

[0038] Embodiments of the present application also provide a computer-readable storage medium storing a computer program, and the computer program is executed by a processor to implement the above-mentioned rescuer protective clothing ergonomics evaluation method.

[0039] The rescuer protective clothing ergonomics evaluation method provided by the present application has at least the following beneficial effects:

[0040] Firstly, the spatial position and direction data of each joint of the rescuer in the movement process when the rescuer wearing the protective clothing performs different rescue tasks are acquired, and the spatial position and direction data of all joints can reflect the limb movement and posture change of the rescuer in the movement process, and based on this, a kinematics model of the rescuer in the movement process can be established, and then a dynamics model of the rescuer is established according to the kinematics parameters obtained by solving the kinematics model.

[0041] By establishing the kinematics and dynamics models, the movement process of the rescuer in the actual rescue task can be dynamically simulated. The kinematics model focuses on describing the change of the joint angle of the rescuer, and the dynamics model focuses on the mechanical parameters involved in the movement process, such as the joint force and the joint torque. In combination with the change of the joint angle, the joint force and the joint torque of each joint in the movement process, the flexibility of each joint can be determined, so that the ergonomics performance of the protective clothing of the rescuer can be evaluated, and the activity freedom and comfort degree of the rescuer when wearing the protective clothing can be judged. BRIEF DESCRIPTION OF DRAWINGS

[0042] One or more embodiments are illustrated by way of example in the drawings and described herein in connection with the enumerated embodiments. These embodiments are not intended to limit the scope of the embodiments to the examples described, but rather, the scope of embodiments is to be accorded the broadest scope of the claims.

[0043] Figure 1 is a flow chart of a rescue worker protective clothing ergonomics evaluation method according to an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a protective clothing ergonomics evaluation according to an embodiment of the present application;

[0045] Figure 3 is a schematic diagram of a rescue worker protective clothing ergonomics evaluation device according to an embodiment of the present application;

[0046] Figure 4 is a structural schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that in the embodiments of the present application, many technical details are proposed in order to make the readers better understand the present application. However, the technical solutions claimed by the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present application, and the embodiments can be combined and referenced with each other without contradiction.

[0048] One embodiment of the present application relates to a rescue worker protective clothing ergonomics evaluation method, and the implementation details of the rescue worker protective clothing ergonomics evaluation method of the present embodiment will be described in detail below. The following content only provides implementation details for the convenience of understanding, and is not necessary for implementing the present solution.

[0049] The specific process of the rescue worker protective clothing ergonomics evaluation method of the present embodiment can be as shown in Figure 1 , including:

[0050] Step 101: Obtain the spatial position and direction data of each joint of the rescue worker in the movement process when the rescue worker wears protective clothing to perform different rescue tasks.

[0051] Specifically, when the rescue personnel wearing the protective clothing perform different rescue tasks, they will make actions such as carrying objects, crossing obstacles, going up and down stairs, and the like, which are typical actions of the rescue personnel in the rescue tasks. These actions are regarded as the motion process of the rescue personnel wearing the protective clothing performing different rescue tasks, and by acquiring the spatial position and direction data of each joint of the rescue personnel in the motion process, the limb movement and posture change of the rescue personnel in different motion scenarios can be captured.

[0052] In step 102, according to the limb movement and posture change of the rescue personnel in the motion process reflected by the spatial position and direction data of each joint of the rescue personnel, a kinematics model of the rescue personnel in the motion process is established, and the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescue personnel in the motion process are acquired through the kinematics model of the rescue personnel.

[0053] Specifically, since the forward kinematics analysis refers to solving the joint position and posture (which can be embodied by the spatial position and direction data of each joint) given the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration, and the inverse kinematics analysis refers to solving the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration given the joint position and posture, in this embodiment, the position and posture of each joint are determined according to the three-dimensional spatial coordinates of each joint, and the inverse kinematics analysis is performed on the kinematics model according to the position and posture of each joint to acquire the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint in the motion process.

[0054] In step 103, according to the motion trajectory of the rescue personnel in the motion process reflected by the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescue personnel in the motion process, a dynamics model of the rescue personnel in the motion process is established, and the joint force and joint torque of each joint of the rescue personnel in the motion process are acquired through the dynamics model of the rescue personnel.

[0055] Specifically, the dynamic forward problem refers to solving the parameters such as the speed and acceleration of each joint and obtaining the motion trajectory of the rescuer under the condition that the joint force or joint torque of each joint of the rescuer is known, and the dynamic inverse problem refers to solving the joint force or joint torque of each joint under the condition that the parameters such as the speed and acceleration of each joint of the rescuer are known. Therefore, the embodiment can determine the motion trajectory of the rescuer according to the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint in the motion process, and perform inverse dynamics analysis on the dynamic model according to the motion trajectory of the rescuer to obtain the joint force and joint torque of each joint in the motion process.

[0056] In a specific implementation, when the dynamic model of the rescuer in the motion process is established according to the joint angle, joint speed, joint acceleration, joint angular velocity and joint angular acceleration of each joint in the motion process, the Newton-Euler equation method or the Lagrange equation method can be used.

[0057] The Newton-Euler equation method is a dynamic analysis method based on classical mechanics, which is widely used in robot dynamics and multi-rigid-body systems. This method is based on Newton's law of motion and Euler's rotation law, and effectively calculates the force and torque of each rigid body in the system through a recursive algorithm. The specific solving steps are as follows:

[0058] (1) Determine the rigid body parameters: determine the mass m, inertia tensor I, center of mass position rc, geometric size and other parameters of each rigid body in the system.

[0059] (2) Establish the coordinate system: establish a local coordinate system for each rigid body and determine its position and direction relative to the global coordinate system.

[0060] (3) Iteratively calculate the speed and acceleration: starting from the root node (base), calculate the linear and angular speed and acceleration of each rigid body in turn.

[0061] Linear velocity v i : v i =v i-1 +ω i-1 ×r i +r i ;

[0062] In the formula, v i is the linear velocity of the i-th rigid body; ω i-1 is the angular velocity of the i-1-th rigid body; r i is the relative position.

[0063] Angular velocity ω i :

[0064] In the formula, is the angular velocity.

[0065] linear acceleration a i :

[0066] where a i is the linear acceleration of the i-th rigid body; a i-1 is the angular acceleration of the i-1-th rigid body.

[0067] angular acceleration a i :

[0068] where a is the angular acceleration

[0069] (4) Iteratively compute forces and moments in reverse order: starting from the end node, compute the force and moment of each rigid body in turn.

[0070] force equation f i : f i = m i a i ;

[0071] where f i is the force of the i-th rigid body; m i is the mass.

[0072] moment equation t i : t i = I i a i + w i x (I i w i );

[0073] where t i is the moment of the i-th rigid body; I i is the moment of inertia.

[0074] resultant force F i : F i = F i+1 + f i ;

[0075] where F i+1 is the resultant force of the i+1-th rigid body.

[0076] resultant moment: t i = t i+1 + r i x f i + t i ;

[0077] where t i+1 is the resultant moment of the i+1-th rigid body.

[0078] (5) Constructing the dynamics equation: combine the force and torque equations of each rigid body to construct the dynamics equation of the system, i.e. the dynamics model of the rescuer in the movement process.

[0079] While the Lagrange equation method is a dynamics analysis method based on energy method, which is widely applicable to multi-degree-of-freedom systems and systems with complex constraints. This method derives the dynamics equation of the system by constructing the Lagrange function of the system (i.e. the difference between the kinetic energy and potential energy of the system) and applying the Lagrange equation. The basic calculation steps include:

[0080] (1) Determine the generalized coordinates and generalized velocities: determine the generalized coordinates q i and the corresponding generalized velocities

[0081] (2) Construct the Lagrange function: define the kinetic energy and potential energy of the system, and construct the Lagrange equation L = T - V;

[0082] (3) Apply the Lagrange equation:

[0083] Apply the Lagrange equation to each generalized coordinate qi

[0084] In the formula, Qi is the generalized force generated by the non-conservative force;

[0085] (4) Solve the dynamics equation: solve the differential equation obtained from the Lagrange equation to obtain the motion equation of the system, i.e. the dynamics model of the rescuer in the movement process.

[0086] Step 104, according to the change of joint force and the change of joint torque of each joint of the rescuer in the movement process, determine the flexibility of each joint, and evaluate the ergonomics performance of the protective clothing of the rescuer through the flexibility of each joint.

[0087] Specifically, by analyzing the joint force and joint torque of each joint in the movement process, the joint angle-time, joint force-time and joint torque-time curve diagram is drawn, based on which the change of joint angle, joint force and joint torque of each joint in the movement process can be determined, and then the influence of the protective clothing on the joint burden can be analyzed, the joint flexibility can be analyzed, and the subjective comfort evaluation can be combined to comprehensively evaluate the comfort of the protective clothing in actual use. At the same time, the change of kinetic energy and potential energy of the rescuer can be analyzed, and the energy consumption can be evaluated to reveal the metabolic level of the firefighter in the task execution process, so as to evaluate the ergonomics performance of the protective clothing of the rescuer in combination with the joint flexibility and energy consumption of the rescuer in the movement process.

[0088] It can be understood that the protective clothing described in the embodiment can be various types of protective clothing, thereby achieving various types of protective clothing ergonomics evaluation, such as Figure 2 Ergonomic evaluation of protective clothing of basic clothing, fire-fighting protective clothing, semi-closed chemical protective clothing and fully-closed chemical protective clothing.

[0089] In the embodiment, first, the spatial position and direction data of each joint of the rescue personnel in the movement process when the rescue personnel wearing protective clothing perform different rescue tasks are acquired, the spatial position and direction data of all joints can reflect the limb movement and posture change of the rescue personnel in the movement process, and a kinematics model of the rescue personnel in the movement process can be established based on this, and then a dynamics model of the rescue personnel is established according to the kinematics parameters obtained by solving the kinematics model. Through the establishment of the kinematics and dynamics models, the movement process of the rescue personnel in the actual rescue task can be dynamically simulated. Among them, the kinematics model focuses on describing the joint angle change of the rescue personnel, and the dynamics model focuses on the mechanical parameters involved in the movement process, such as joint force and joint torque, and then the flexibility of each joint can be determined by combining the joint angle, joint force and joint torque change of each joint in the movement process, so as to evaluate the ergonomics performance of the protective clothing of the rescue personnel and judge the activity freedom and comfort degree when wearing the protective clothing.

[0090] In one embodiment, it is assumed that the rescue personnel need to experience tasks such as climbing stairs, passing through a narrow channel, carrying heavy objects and avoiding obstacles when entering a fire-fighting rescue scene, the environmental temperature is about 50℃, the humidity is 60%, the three-dimensional space position coordinates and direction data of each joint are acquired by the three-dimensional motion capture system, the joint angle and other parameters are acquired by inputting the kinematics model, the joint force, joint torque and other dynamics parameters are acquired by inputting the joint angle into the dynamics model, images are drawn and the influence of typical actions of the firefighter under different tasks on the ergonomics performance such as joint range of motion, flexibility and subjective comfort is analyzed. The results are as follows: in the inclined stair task, the protective clothing limits the range of motion of the knee joint and the ankle joint of the firefighter to a certain extent, which increases the gait cycle by about 10% when climbing stairs; in the narrow channel passing task, the weight and structure of the protective clothing limit the low posture movement of the firefighter, which reduces the range of motion of the waist and hip joint by about 15%, resulting in an increase in the channel passing time; in the heavy object carrying task, the protective clothing increases the energy consumption of the upper limbs of the firefighter, especially the torque of the shoulder joint and the elbow joint, which increases by about 20%, but the protective clothing effectively prevents the risk of injury caused by excessive force on the shoulder joint.

[0091] It can be seen that the rescue personnel protective clothing ergonomics evaluation method of the present application can realize the following functions:

[0092] (1) High-precision motion capture: Utilizing a three-dimensional motion capture system allows for the precise recording of the movements of the rescue personnel. This system captures and records various movements and postures of the rescue personnel during their tasks by placing multiple high-precision sensors on their bodies. These sensors can track every joint movement of the rescue personnel in real-time in three-dimensional space, and obtain position information with millimeter-level precision. Through these data, the influence of the protective clothing on human movement in different working environments can be comprehensively analyzed. For example, in high-intensity physical labor or complex rescue environments, the motion capture system can accurately capture the limb movements and posture changes of the rescue personnel, and identify the limitations or discomfort caused by the protective clothing to specific movements. Through this high-precision and comprehensive motion capture technology, researchers can identify and improve the shortcomings in the design of protective clothing, thereby further improving the comfort, flexibility, and safety of the protective clothing.

[0093] (2) Dynamic simulation analysis: By establishing kinematics and dynamics models, the movement process of the rescue personnel in actual rescue tasks can be dynamically simulated. The kinematics model focuses on describing the limb movements and joint angle changes of the rescue personnel, while the dynamics model focuses on the mechanical parameters involved in the movement process, such as muscle strength, ground reaction force, etc. Combined with these models, researchers can simulate complex movement scenarios of the rescue personnel in different tasks, such as climbing, carrying heavy objects, and crossing obstacles.

[0094] (3) This dynamic simulation analysis not only predicts the performance of the protective clothing in actual operations, but also evaluates its protection effect in extreme environments. By simulating movements in extreme conditions, such as high temperature, smoke, and other harsh environments, the protection ability of the protective clothing to the human body and the possible performance degradation under these conditions can be further understood. Through the analysis of the simulation results, researchers can identify potential problems of the protective clothing in extreme environments and propose improvement suggestions accordingly. Ultimately, this method can significantly improve the design of the protective clothing, making it provide better protection and support in actual rescue tasks.

[0095] The division of steps in the above methods is only for clarity, and in implementation, a step can be combined or some steps can be split and decomposed into multiple steps, as long as the same logical relationship is included, and all are within the protection scope of the present application; adding insignificant modifications or introducing insignificant designs in the algorithm or process, but not changing the core design of the algorithm and process, are within the protection scope of the present application.

[0096] Another embodiment of the present application relates to a rescue worker protective clothing ergonomics evaluation device, and the implementation details of the rescue worker protective clothing ergonomics evaluation device of the present embodiment are specifically described as follows. The following content is provided for the convenience of understanding, and is not necessary for the implementation of the present embodiment. The schematic diagram of the rescue worker protective clothing ergonomics evaluation device of the present embodiment can be as shown in Figure 3 The rescue worker protective clothing ergonomics evaluation device of the present embodiment comprises a data acquisition module 301, a kinematics analysis module 302, a dynamics analysis module 303, and an ergonomics evaluation module 304.

[0097] Specifically, the data acquisition module 301 is configured to acquire the spatial position and direction data of each joint of the rescue worker during the movement of the rescue worker when the rescue worker wears the protective clothing to perform different rescue tasks.

[0098] The kinematics analysis module 302 is configured to establish a kinematics model of the rescue worker during the movement of the rescue worker according to the limb movement and posture change of the rescue worker during the movement of the rescue worker reflected by the spatial position and direction data of each joint of the rescue worker, and acquire the joint angle, joint speed, joint acceleration, joint angular velocity, and joint angular acceleration of each joint of the rescue worker during the movement of the rescue worker through the kinematics model of the rescue worker.

[0099] The dynamics analysis module 303 is configured to establish a dynamics model of the rescue worker during the movement of the rescue worker according to the movement trajectory of the rescue worker during the movement of the rescue worker reflected by the joint angle, joint speed, joint acceleration, joint angular velocity, and joint angular acceleration of each joint of the rescue worker during the movement of the rescue worker, and acquire the joint force and joint torque of each joint of the rescue worker during the movement of the rescue worker through the dynamics model of the rescue worker.

[0100] The ergonomics evaluation module 304 is configured to determine the flexibility of each joint according to the change of the joint force and the change of the joint torque of each joint of the rescue worker during the movement of the rescue worker, and evaluate the ergonomics performance of the protective clothing of the rescue worker through the flexibility of each joint.

[0101] It can be found that the present embodiment is a device embodiment corresponding to the above-mentioned method embodiment, and the present embodiment can be implemented in cooperation with the above-mentioned method embodiment. The related technical details and technical effects mentioned in the above-mentioned embodiments are still valid in the present embodiment. In order to reduce repetition, they will not be described here again. Correspondingly, the related technical details mentioned in the present embodiment can also be applied in the above-mentioned embodiments.

[0102] It is worth mentioning that each module involved in the embodiment is a logical module, and in actual application, one logical unit can be one physical unit, or a part of one physical unit, or realized in combination of multiple physical units. In addition, in order to highlight the innovative part of the present application, units not closely related to solving the technical problems proposed by the present application are not introduced in the embodiment, but this does not mean that there are no other units in the embodiment.

[0103] Another embodiment of the present application relates to a computer device, as shown in the accompanying drawings, comprising: at least one processor 401; and a memory 402 connected with the at least one processor 401; wherein the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401 to enable the at least one processor 401 to perform the rescue worker protective clothing ergonomics evaluation method in each of the above embodiments. Figure 4

[0104] The memory and the processor are connected in a bus mode, and the bus can include any number of interconnected buses and bridges, which connect various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on the transmission medium. The data processed by the processor is transmitted on the wireless medium through the antenna, and further, the antenna also receives data and transmits the data to the processor.

[0105] The processor is responsible for managing the bus and general processing, and can also provide various functions including timing, peripheral interface, voltage regulation, power management and other control functions. The memory can be used to store data used by the processor in performing operations.

[0106] Another embodiment of the present application relates to a computer readable storage medium storing a computer program. The computer program is executed by the processor to implement the method embodiments.

[0107] ​That is, a person skilled in the art can understand that all or part of the steps in the above-mentioned embodiment methods can be completed by a program instructing relevant hardware, the program being stored in a storage medium and including a plurality of instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0108] A person of ordinary skill in the art can understand that the above-mentioned embodiments are specific embodiments for implementing the present application, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A method for evaluating the ergonomics of protective clothing for rescuers, characterized in that: include: Obtain the spatial position and orientation data of each joint of the rescuer during the movement when the rescuer is wearing protective clothing and performing different rescue tasks; Based on the rescuer's limb movement and posture changes during the movement process reflected by the spatial position and direction data of each joint of the rescuer, a kinematic model of the rescuer during the movement process is established, and the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process are obtained through the rescuer's kinematic model; Based on the rescuer's motion trajectory during the motion process, which is reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity, and joint angular acceleration of each joint of the rescuer, a dynamic model of the rescuer during the motion process is established. Through the dynamic model of the rescuer, the joint force and joint torque of each joint of the rescuer during the motion process are obtained; According to the changes in joint force and joint torque of each joint of the rescuer during movement, the flexibility of each joint is determined, and the ergonomic performance of the rescuer's protective clothing is evaluated based on the flexibility of each joint; The kinematic model of the rescuer is used to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity, and joint angular acceleration of each joint of the rescuer during the movement, including: Based on the spatial position and orientation data of each joint, the position and posture of each joint are determined; based on the limb movement and posture changes of the rescuer during the movement reflected by the position and posture of each joint, the kinematic model is subjected to inverse kinematic analysis to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint during the movement; The method establishes a dynamic model of the rescuer during the movement process based on the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, including: The Newton-Euler equation method is used to establish a dynamic model through the following steps: taking the joints of the rescuer as rigid bodies, determine the mass, inertia tensor, center of mass position and geometric dimensions of each rigid body; establish a local coordinate system for each rigid body, and determine the position and orientation of the local coordinate system relative to the pre-built global coordinate system; take the center of mass position of the rescuer as the root node, and calculate the linear velocity, angular velocity, linear acceleration and angular acceleration of each rigid body starting from the root node; take any joint of the rescuer as the end node, and calculate the force and torque of each rigid body starting from the end node; combine the forces and torques of each rigid body to establish the dynamic model of the rescuer.

2. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1, characterized in that: Each joint and the connecting rod connecting the joints in the kinematic model are described using the DH parameter method.

3. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1, characterized in that: The method establishes a dynamic model of the rescuer during the movement process based on the movement trajectory of the rescuer during the movement process reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, including: The Lagrange equation method is used to establish the dynamic model through the following steps: Determine the generalized coordinates and corresponding generalized velocities used to describe the rescuer's position; Define the kinetic energy and potential energy of the rescuer to construct the Lagrange equation; Applying the Lagrangian equations to each generalized coordinate, solving the generalized forces caused by the non-conservative forces in multiple Lagrangian equations to obtain a system of differential equations derived from multiple Lagrangian equations; The dynamic model of the rescuer is obtained through a system of differential equations derived from multiple Lagrangian equations.

4. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 1 or 3, characterized in that: The method of obtaining the joint force and joint torque of each joint of the rescuer during the movement through the dynamic model of the rescuer includes: According to the motion trajectory of the rescuer, inverse dynamics analysis is performed on the dynamic model to obtain the joint force and joint torque of each joint during the motion process.

5. The method for evaluating the ergonomics of protective clothing for rescuers according to claim 3, characterized in that: The evaluation of the ergonomic performance of protective clothing for rescuers includes: Determine the energy consumption of each joint during the movement based on the kinetic energy and potential energy of each joint during the movement; The ergonomic performance of the rescue workers' protective clothing is evaluated by the flexibility and energy consumption of each joint during movement.

6. A device for evaluating the ergonomics of protective clothing for rescuers, characterized in that: include: The data acquisition module is used to obtain the spatial position and orientation data of each joint of the rescuer during the movement of the rescuer wearing protective clothing and performing different rescue tasks; A kinematic analysis module is used to establish a kinematic model of the rescuer during the movement process based on the rescuer's limb movements and posture changes reflected by the spatial position and orientation data of each joint of the rescuer. The module also obtains the joint angle, joint velocity, joint acceleration, joint angular velocity, and joint angular acceleration of each joint of the rescuer during the movement process through the rescuer's kinematic model. The dynamics analysis module is used to establish a dynamics model of the rescuer during the movement process based on the rescuer's movement trajectory reflected by the joint angle, joint velocity, joint acceleration, joint angular velocity and joint angular acceleration of each joint of the rescuer during the movement process, and obtain the joint force and joint torque of each joint of the rescuer during the movement process through the dynamics model of the rescuer; The ergonomics evaluation module is used to determine the flexibility of each joint according to the changes in joint force and joint torque of each joint during the rescuer's movement, and to evaluate the ergonomic performance of the rescuer's protective clothing based on the flexibility of each joint; The kinematic analysis module is further configured to determine the position and posture of each joint based on the spatial position and orientation data of each joint; and to perform inverse kinematic analysis on the kinematic model based on the limb movement and posture changes of the rescuer during the movement, as reflected by the position and posture of each joint, to obtain the joint angle, joint velocity, joint acceleration, joint angular velocity, and joint angular acceleration of each joint during the movement. The dynamic analysis module is also used to use the Newton-Euler equation method to establish a dynamic model through the following steps: taking the joints of the rescuer as rigid bodies, determining the mass, inertia tensor, center of mass position and geometric dimensions of each rigid body; establishing a local coordinate system for each rigid body, and determining the position and direction of the local coordinate system relative to the pre-established global coordinate system; taking the center of mass position of the rescuer as the root node, starting from the root node, calculating the linear velocity, angular velocity, linear acceleration and angular acceleration of each rigid body in sequence; taking any joint of the rescuer as the end node, starting from the end node, calculating the force and torque of each rigid body in sequence; combining the forces and torques of each rigid body to establish a dynamic model of the rescuer.

7. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for evaluating the ergonomics of protective clothing for rescuers as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for evaluating the ergonomics of protective clothing for rescuers according to any one of claims 1 to 5 is implemented.

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